제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Omni-directional Gait Control of Quadruped Walking Robot

  • Son, Tae-Young (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Kang, Tae-Hun (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Kim, Hyung-Seok (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Choi, Hyouk-Ryeol (School of Mechanical Engineering, Sungkyunkwan University)
  • Published : 2003.10.22
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Abstract

A quadruped walking robot has a superior adaptablility as well as highly adaptable mobility in various environments. These special advantages are outstanding in the mobile robot group. In this work, we introduce the method for omni-directional gait and rotational gait which is the generalized control algorithm to perform any direction commands. In addition, to improve the stability of quadruped walking robot, we performed the optimization between walking angle and sequence of feet. The proposed ideas are applied to the actual design of MRWALLSPECT III(Multifunctional Robot for Wall inSpection version 3) that is designed to inspect of the large surface of industrial utilities. By implementing the proposed idea on the robot, it’s effectiveness is experimentally confirmed.

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